CN109389012A - Parking stall extended method and storage medium based on response point and parking stall line - Google Patents
Parking stall extended method and storage medium based on response point and parking stall line Download PDFInfo
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
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Abstract
The present invention provides a kind of parking stall extended method and storage medium based on response point and parking stall line, the following steps are included: obtaining the pixel P1 (x1 as angle point, y1), P2 (x2, y2) and capture image in each pixel p element；Element is added to each pixel P in capture image: angle point flag bit, the angle point flag bit includes upper angle point flag bit and lower angle point flag bit, according to the pixel P1 (x1 as angle point, y1), P2 (x2, y2 after) extending parking stall angle point P3 and parking stall angle point P4, angle point flag bit in pixel P element is updated.The present invention updates the angle point mark place value of each pixel in capture image behind parking stall according to identifying each time, reduce the number of the range of pixel traversal and traversal in the anabolic process of parking stall, to reduce the calculation amount of parking stall combination, the efficiency that parking stall combination calculates is improved.
Description
Technical field
The present invention relates to vehicle electronics technical fields, are extended more particularly to a kind of based on the parking stall of response point and parking stall line
Method and storage medium.
Background technique
The increase of car ownership promotes the development of large parking lot, and since marching toward 21st century, ours is big
Type parking lot is more and more, and being growing for parking lot scale, brings a series of the problem of parking with picking up the car, has become
The social concern that each large- and-medium size cities generally face in world wide.
During autonomous parking, how according to environment sensing information, detect accurate parking stall and detecting
Reduce equipment calculation amount in journey, quickly, accurately identifies parking stall line angle point as current urgent problem to be solved.
The existing method for calculating the extension of parking stall line is to identify line segment according to pixel intensity difference on capture image, lead to
It crosses line segment and finds out qualified horizontal brightness item and vertical bright line item, find out the middle line of two sides of horizontal brightness item and hang down
The intersection point of two side middle lines of straight bright line item, is determined as the angle point of parking stall line.This identification parking stall line angle point by this method, it is right
The accuracy requirement for finding qualified horizontal brightness item and vertical bright line step is high, if the horizontal brightness item found out and
There is reflective " the vertical bright line item " or " horizontal brightness item " for waiting other interference to generate in vertical bright line item, then can make the vehicle identified
Bit line angle point is inaccurate, to identify that the position of adjacent parking stall is also inaccurate when causing the adjacent parking stall of subsequent expansion.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the present invention provides one kind to be based on response point and parking stall
The parking stall extended method and storage medium of line, for the case where having determined at least parking stall in image is captured, without according to tradition
Parking stall combined method carry out parking stall combination, by adding pixel element angle point flag bit, and stop according to identifying each time
The angle point mark place value that each pixel in capture image is updated behind parking stall reduces the model of pixel traversal in the anabolic process of parking stall
The number for enclosing and traversing improves the efficiency that parking stall combination calculates to reduce the calculation amount of parking stall combination.In initial parking stall
Under the premise of accurately, this method speed is significantly improved, and is not easy to omit parking stall.
A kind of parking stall extended method based on response point and parking stall line, comprising the following steps:
S01: it obtains as each pixel p in the pixel P1 (x1, y1) of angle point, P2 (x2, y2) and capture image
Element；
S02: add element to each pixel P in capture image: angle point flag bit, the angle point flag bit include upper angle
Point flag bit and lower angle point flag bit, the upper angle point flag bit are denoted as bUp, and the lower angle point flag bit is denoted as bDown；
The value of the upper angle point flag bit bUp is 0 or 1；The upper angle point flag bit bUp value indicates the pixel for 0
Point p cannot function as angle point；The upper angle point flag bit bUp value is that 1 expression pixel p can be used as upper angle point；
The value of the lower angle point flag bit bDown is 0 or 1；The lower angle point flag bit bDown value is that 0 expression should
Pixel p cannot function as lower angle point；The lower angle point flag bit bDown value is that 1 expression pixel p can be used as lower angle point；
S03: when extending parking stall according to pixel P1 (x1, y1), the P2 (x2, y2) as angle point, if pixel P1 is
Lower angle point, pixel P2 are upper angle point；
Search for the pixel P3 that can be used as extension parking stall angle point downwards using pixel P1 as lower boundary starting point；According to pixel
Priority traverse pixel one by one, and found and the matched pixel of pixel P1 according to parking stall width threshold value and principal direction
P3,
It further include angle point flag bit in pixel P element after obtaining the pixel P3 that can be used as extension parking stall angle point
Update step:
The pixel for capturing coordinate (x, y) eligible P1 (y) < P (y) the < P3 (y) of pixel P in image is wanted
The value of upper angle point flag bit and lower angle point flag bit resets to 0 in element.
Search for the pixel P4 that can be used as extension parking stall angle point upwards using the coboundary pixel P2 as starting point；According to pixel
Priority traverse pixel one by one, and found and the matched pixel of pixel P2 according to parking stall width threshold value and principal direction
P4,
It further include angle point flag bit in pixel P element after obtaining the pixel P4 that can be used as extension parking stall angle point
Update step:
The pixel for capturing coordinate (x, y) eligible P2 (y) < P (y) the < P4 (y) of pixel P in image is wanted
The value of upper angle point flag bit and lower angle point flag bit resets to 0 in element.
Further, in the step S03, in the pixel P element in the update step of angle point flag bit, acquisition can
It further include that will capture in image more than the position pixel P2 and be marked in angle point before pixel P4 as extension parking stall angle point
The upper angle point marker bit bUp that position updates the pixel in threshold range is updated to 0；
In the pixel P element in the update step of angle point flag bit, the pixel that can be used as extension parking stall angle point is obtained
It further include that will capture in image below the position pixel P1 and update the picture in threshold range in angle point marker bit before point P3
The lower angle point marker bit bDown of vegetarian refreshments is updated to 0.
Further, in the step S03, the angle point marker bit updates threshold range and is labeled as D, and the parking stall D≤1/2 is wide
Degree.
Further, in the step S03, in the pixel P element in the update step of angle point flag bit, acquisition can
It further include will capture pixel in image near the position pixel P2 upper before pixel P4 as extension parking stall angle point
Angle point marker bit bUp is updated to 0；
In the pixel P element in the update step of angle point flag bit, the pixel that can be used as extension parking stall angle point is obtained
It further include being updated to the lower angle point marker bit bDown of the pixel in capture image near the position pixel P1 before point P3
0。
Further, described to search for the pixel that can be used as extension parking stall angle point downwards for lower boundary starting point according to pixel P1
When point P3, comprising the following steps:
Lower angle point flag bit bDown value is 1 in the element of a pixel P3,
The position of b pixel P3 is in opposite direction of the pixel P2 relative to the direction pixel P1；
The distance of c pixel P3 Range Profile vegetarian refreshments P1 is equal or approximately equal to the distance of pixel P2 Range Profile vegetarian refreshments P1；
Determining parking stall direction and parking stall width obtains pixel P3.
Further, described to search for the pixel that can be used as extension parking stall angle point downwards for lower boundary starting point according to pixel P1
When point P3, if being greater than one by the pixel number that step a, b, c are filtered out, d is entered step:
The pixel of each pixel element e (p) >=1 is taken to form array from each pixel by step a, b, c
And compare the size of each pixel e (p) value in array, it is maximized as pixel P3；If maximum value in pixel e (p)
When having more than one, the pixel for taking luminance contrast response X big is as pixel P3.
Further, described to search for the pixel that can be used as extension parking stall angle point upwards for starting point according to the coboundary pixel P2
When point P4, comprising the following steps:
Upper angle point flag bit bUp value is 1 in the element of d pixel P4；
The position of e pixel P4 is in opposite direction of the pixel P1 relative to the direction pixel P2；
The distance of f pixel P4 Range Profile vegetarian refreshments P2 is equal or approximately equal to the distance of pixel P2 Range Profile vegetarian refreshments P1.
Further, described to search for the pixel that can be used as extension parking stall angle point upwards for coboundary starting point according to pixel P2
When point P4, if being greater than one by the pixel number that step d, e, f are filtered out, g is entered step:
The pixel of each pixel element e (p) >=1 is taken to form array from each pixel by step d, e, f
And compare the size of each pixel e (p) value in array, it is maximized as pixel P4；If maximum value in pixel e (p)
When having more than one, the pixel for taking luminance contrast response X big is as pixel P4.
Further, the element for obtaining capturing each pixel p on image that pre-processes includes:
The position coordinates (x, y) of a acquisition pixel P；
The luminance contrast response X of b acquisition pixel P；
Whether there is corresponding x wire at c pixel P, be labeled as C (p), if having x wire C (p) value is 1, if without cross
It is 0 to line C (p) value；
Whether d pixel P has corresponding vertical line, is labeled as D (p), if having vertical line D (p) value is 1, if without longitudinal direction
Line D (p) value is 0；
There is the direction number of corresponding line segment in e pixel P, be labeled as e (p), and e (p) value range is 0,1,2.
As described above, of the invention has the advantages that
The case where at least parking stall is had determined in capture image, vehicle is carried out without according to traditional parking stall combined method
Bit combination captures in image by adding pixel element angle point flag bit, and according to update after identifying parking stall each time
The angle point mark place value of each pixel reduces the number of the range of pixel traversal and traversal in the anabolic process of parking stall, thus
The calculation amount for reducing parking stall combination improves the efficiency that parking stall combination calculates.Under the premise of initial parking stall is accurate, this method
Speed significantly improves, and is not easy to omit parking stall.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as extending the schematic diagram of parking stall angle point P3 by parking stall angle point P1 and parking stall angle point P2.
Fig. 2 is shown as extending parking stall angle point P3 and parking stall angle point by parking stall angle point P1 and parking stall angle point P2
P4。
Fig. 3, which is shown as determining, form general when extending parking stall P3 behind parking stall with parking stall angle point P1 and parking stall angle point P2
Upper angle point flag bit and lower angle point mark in pixel element within the parking stall range of P1 and P2 composition in angle point flag bit
The schematic diagram that will position updates.
Fig. 4, which is shown as determining, form general when extending parking stall P3 behind parking stall with parking stall angle point P1 and parking stall angle point P2
The schematic diagram that the lower angle point flag bit of pixel P1 pixel below updates.
Fig. 5 is shown as extending parking stall P3 and P4 after determination forms parking stall with parking stall angle point P1 and parking stall angle point P2
When by the lower angle point flag bit of pixel P1 pixel below and the upper angle point flag bit of the pixel of pixel P2 or more
The schematic diagram of update.
Fig. 6 is shown as the presence of the angle that direction number e (p) value of corresponding line segment is 1 in an embodiment in pixel element
There is the schematic diagram of corresponding line segment in point.
Direction number e (p) value that Fig. 7 is shown as in another embodiment in pixel element in the presence of corresponding line segment is 1
There is the schematic diagram of corresponding line segment in angle point.
Direction number e (p) value that Fig. 8 is shown as in another embodiment in pixel element in the presence of corresponding line segment is 2
There is the schematic diagram of corresponding line segment in angle point.
Direction number e (p) value that Fig. 9 is shown as in another embodiment in pixel element in the presence of corresponding line segment is 2
There is the schematic diagram of corresponding line segment in angle point.
By the element angle point of the pixel in formed three parking stalls when Figure 10 is shown as extension parking stall angle point P5
The schematic diagram that flag bit assignment updates.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
Referring to Fig. 1~Figure 10,
A kind of parking stall extended method based on response point and parking stall line, comprising the following steps:
S01: it obtains as each pixel p in the pixel P1 (x1, y1) of angle point, P2 (x2, y2) and capture image
Element；
S02: add element to each pixel P in capture image: angle point flag bit, the angle point flag bit include upper angle
Point flag bit and lower angle point flag bit, the upper angle point flag bit are denoted as bUp, and the lower angle point flag bit is denoted as bDown；
The value of the upper angle point flag bit bUp is 0 or 1；The upper angle point flag bit bUp value indicates the pixel for 0
Point p cannot function as angle point；The upper angle point flag bit bUp value is that 1 expression pixel p can be used as upper angle point；
The value of the lower angle point flag bit bDown is 0 or 1；The lower angle point flag bit bDown value is that 0 expression should
Pixel p cannot function as lower angle point；The lower angle point flag bit bDown value is that 1 expression pixel p can be used as lower angle point；
S03: when extending parking stall according to pixel P1 (x1, y1), the P2 (x2, y2) as angle point, if pixel P1 is
Lower angle point, pixel P2 are upper angle point；
Search for the pixel P3 that can be used as extension parking stall angle point downwards using pixel P1 as lower boundary starting point；According to pixel
Priority traverse pixel one by one, and found and the matched pixel of pixel P1 according to parking stall width threshold value and principal direction
P3,
It further include angle point flag bit in pixel P element after obtaining the pixel P3 that can be used as extension parking stall angle point
Update step:
The pixel for capturing coordinate (x, y) eligible P1 (y) < P (y) the < P3 (y) of pixel P in image is wanted
The value of upper angle point flag bit and lower angle point flag bit resets to 0 in element.
Search for the pixel P4 that can be used as extension parking stall angle point upwards using the coboundary pixel P2 as starting point；According to pixel
Priority traverse pixel one by one, and found and the matched pixel of pixel P2 according to parking stall width threshold value and principal direction
P4,
It further include angle point flag bit in pixel P element after obtaining the pixel P4 that can be used as extension parking stall angle point
Update step:
The pixel for capturing coordinate (x, y) eligible P2 (y) < P (y) the < P4 (y) of pixel P in image is wanted
The value of upper angle point flag bit and lower angle point flag bit resets to 0 in element.
As a preferred embodiment, in the step S03, in the pixel P element in the update step of angle point flag bit,
It further include that will capture in image more than the position pixel P2 and at angle before obtaining the pixel P4 that can be used as extension parking stall angle point
The upper angle point marker bit bUp that point marker bit updates the pixel in threshold range is updated to 0；
In the pixel P element in the update step of angle point flag bit, the pixel that can be used as extension parking stall angle point is obtained
It further include that will capture in image below the position pixel P1 and update the picture in threshold range in angle point marker bit before point P3
The lower angle point marker bit bDown of vegetarian refreshments is updated to 0.
As a preferred embodiment, in the step S03, the angle point marker bit updates threshold range and is labeled as D, D≤1/2
Parking stall width.
As a preferred embodiment, in the step S03, in the pixel P element in the update step of angle point flag bit,
It further include the pixel that will be captured in image near the position pixel P2 before obtaining the pixel P4 that can be used as extension parking stall angle point
The upper angle point marker bit bUp of point is updated to 0；
In the pixel P element in the update step of angle point flag bit, the pixel that can be used as extension parking stall angle point is obtained
It further include being updated to the lower angle point marker bit bDown of the pixel in capture image near the position pixel P1 before point P3
0。
As a preferred embodiment, described searched for downwards according to pixel P1 for lower boundary starting point can be used as extension parking stall angle point
Pixel P3 when, comprising the following steps:
Lower angle point flag bit bDown value is 1 in the element of a pixel P3,
The position of b pixel P3 is in opposite direction of the pixel P2 relative to the direction pixel P1；
The distance of c pixel P3 Range Profile vegetarian refreshments P1 is equal or approximately equal to the distance of pixel P2 Range Profile vegetarian refreshments P1
Determining parking stall direction and parking stall width obtains pixel P3.
As a preferred embodiment, described searched for downwards according to pixel P1 for lower boundary starting point can be used as extension parking stall angle point
Pixel P3 when, if the pixel number filtered out by step a, b, c is greater than one, enter step d:
The pixel of each pixel element e (p) >=1 is taken to form array from each pixel by step a, b, c
And compare the size of each pixel e (p) value in array, it is maximized as pixel P3；If maximum value in pixel e (p)
When having more than one, the pixel for taking luminance contrast response X big is as pixel P3.
As a preferred embodiment, described searched for upwards according to the coboundary pixel P2 for starting point can be used as extension parking stall angle point
Pixel P4 when, comprising the following steps:
Upper angle point flag bit bUp value is 1 in the element of d pixel P4；
The position of e pixel P4 is in opposite direction of the pixel P1 relative to the direction pixel P2；
The distance of f pixel P4 Range Profile vegetarian refreshments P2 is equal or approximately equal to the distance of pixel P2 Range Profile vegetarian refreshments P1.
As a preferred embodiment, described searched for upwards according to pixel P2 for coboundary starting point can be used as extension parking stall angle point
Pixel P4 when, if the pixel number filtered out by step d, e, f is greater than one, enter step d:
The pixel of each pixel element e (p) >=1 is taken to form array from each pixel by step d, e, f
And compare the size of each pixel e (p) value in array, it is maximized as pixel P4；If maximum value in pixel e (p)
When having more than one, the pixel for taking luminance contrast response X big is as pixel P4.
As a preferred embodiment, the element for obtaining capturing each pixel p on image that pre-processes includes:
The position coordinates (x, y) of a acquisition pixel；
The luminance contrast response X of b acquisition pixel；
Whether there is corresponding x wire at c pixel, be labeled as C (p), if having x wire C (p) value is 1, if without transverse direction
Line C (p) value is 0；
Whether d pixel has corresponding vertical line, is labeled as D (p), if having vertical line D (p) value is 1, if without vertical line
D (p) value is 0；
There is the direction number of corresponding line segment in e pixel, be labeled as e (p), and e (p) value range is 0,1,2.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of parking stall extended method based on response point and parking stall line, which comprises the following steps:
S01: it obtains as the pixel P1 (x1, y1) of angle point, P2 (x2, y2) and captures each pixel P in image and want
Element；
S02: add element to each pixel P in capture image: angle point flag bit, the angle point flag bit include upper angle point mark
Will position and lower angle point flag bit, the upper angle point flag bit are denoted as bUp, and the lower angle point flag bit is denoted as bDown；
The value of the upper angle point flag bit bUp is 0 or 1；The upper angle point flag bit bUp value indicates pixel p not for 0
Upper angle point can be used as；The upper angle point flag bit bUp value is that 1 expression pixel p can be used as upper angle point；
The value of the lower angle point flag bit bDown is 0 or 1；The lower angle point flag bit bDown value indicates the pixel for 0
Point p cannot function as lower angle point；The lower angle point flag bit bDown value is that 1 expression pixel p can be used as lower angle point；
S03: when extending parking stall according to pixel P1 (x1, y1), the P2 (x2, y2) as angle point, if pixel P1 is inferior horn
Point, pixel P2 are upper angle point；
Search for the pixel P3 that can be used as extension parking stall angle point downwards using pixel P1 as lower boundary starting point；According to the excellent of pixel
First grade traverses pixel one by one, and according to parking stall width threshold value and principal direction find with the matched pixel P3 of pixel P1,
After obtaining the pixel P3 that can be used as extension parking stall angle point, the update step including angle point flag bit in pixel P element
It is rapid:
It will capture in image in the element of the pixel of eligible P1 (y) < P (y) the < P3 (y) of coordinate (x, y) of pixel P
The value of upper angle point flag bit and lower angle point flag bit resets to 0.
Search for the pixel P4 that can be used as extension parking stall angle point upwards using the coboundary pixel P2 as starting point；According to the excellent of pixel
First grade traverses pixel one by one, and according to parking stall width threshold value and principal direction find with the matched pixel P4 of pixel P2,
After obtaining the pixel P4 that can be used as extension parking stall angle point, the update step including angle point flag bit in pixel P element
It is rapid:
It will capture in image in the element of the pixel of eligible P2 (y) < P (y) the < P4 (y) of coordinate (x, y) of pixel P
The value of upper angle point flag bit and lower angle point flag bit resets to 0.
2. the parking stall extended method according to claim 1 based on response point and parking stall line, which is characterized in that the step
In S03, in the pixel P element in the update step of angle point flag bit, the pixel that can be used as extension parking stall angle point is obtained
It further include that will capture in image more than the position pixel P2 and update the pixel in threshold range in angle point marker bit before P4
Upper angle point marker bit bUp be updated to 0；
In the pixel P element in the update step of angle point flag bit, the pixel P3 that can be used as extension parking stall angle point is obtained
It before, further include that will capture in image below the position pixel P1 and update the pixel in threshold range in angle point marker bit
Lower angle point marker bit bDown is updated to 0.
3. the parking stall extended method according to claim 2 based on response point and parking stall line, which is characterized in that the step
In S03, the update step of angle point flag bit be could alternatively be in the pixel P element: acquisition can be used as extension parking stall angle point
Pixel P4 before, further include that will capture the upper angle point marker bit bUp of the pixel in image near the position pixel P2 more
New is 0；
In the pixel P element in the update step of angle point flag bit, the pixel P3 that can be used as extension parking stall angle point is obtained
It before, further include that the lower angle point marker bit bDown of the pixel in capture image near the position pixel P1 is updated to 0.
4. the parking stall extended method according to claim 2 or 3 based on response point and parking stall line, which is characterized in that described
In step S03, the angle point marker bit updates threshold range and is labeled as D, the parking stall D≤1/2 width.
5. the parking stall extended method according to claim 1 based on response point and parking stall line, which is characterized in that the step
In S03 according to pixel P1 be lower boundary starting point search for downwards can be used as the pixel P3 for extending parking stall angle point when, including it is following
Step:
Lower angle point flag bit bDown value is 1 in the element of a pixel P3,
The position of b pixel P3 is in opposite direction of the pixel P2 relative to the direction pixel P1；
The distance of c pixel P3 Range Profile vegetarian refreshments P1 is equal or approximately equal to the distance of pixel P2 Range Profile vegetarian refreshments P1；
Determining parking stall direction and parking stall width obtains pixel P3.
6. the parking stall extended method according to claim 5 based on response point and parking stall line, which is characterized in that the basis
When pixel P1 is that lower boundary starting point searches for downwards the pixel P3 that can be used as extension parking stall angle point, if being sieved by step a, b, c
The pixel number selected is greater than one, then enters step d:
It takes the pixel of each pixel element e (p) >=1 to form array from each pixel by step a, b, c and compares
Compared with the size of pixel e (p) value each in array, it is maximized as pixel P3；If maximum value has more in pixel e (p)
When one, the pixel for taking luminance contrast response X big is as pixel P3.
7. the parking stall extended method according to claim 1 based on response point and parking stall line, which is characterized in that the basis
When the coboundary pixel P2 is that starting point searches for the pixel P4 that can be used as extension parking stall angle point upwards, comprising the following steps:
Upper angle point flag bit bUp value is 1 in the element of d pixel P4；
The position of e pixel P4 is in opposite direction of the pixel P1 relative to the direction pixel P2；
The distance of f pixel P4 Range Profile vegetarian refreshments P2 is equal or approximately equal to the distance of pixel P2 Range Profile vegetarian refreshments P1.
8. the parking stall extended method according to claim 7 based on response point and parking stall line, which is characterized in that the basis
When pixel P2 is that coboundary starting point searches for the pixel P4 that can be used as extension parking stall angle point upwards, if being sieved by step d, e, f
The pixel number selected is greater than one, then enters step g:
It takes the pixel of each pixel element e (p) >=1 to form array from each pixel by step d, e, f and compares
Compared with the size of pixel e (p) value each in array, it is maximized as pixel P4；If maximum value has more in pixel e (p)
When one, the pixel for taking luminance contrast response X big is as pixel P4.
9. the parking stall extended method according to claim 1 based on response point and parking stall line, which is characterized in that the pre- place
Managing the element for obtaining capturing each pixel p on image includes:
The position coordinates (x, y) of a acquisition pixel P；
The luminance contrast response X of b acquisition pixel P；
Whether there is corresponding x wire at c pixel p, be labeled as C (p), if having x wire C (p) value is 1, if not having x wire C
(p) value is 0；
Whether d pixel P has corresponding vertical line, is labeled as D (p), if having vertical line D (p) value is 1, if not having vertical line D
(p) value is 0；
There is the direction number of corresponding line segment in e pixel P, be labeled as e (p), and e (p) value range is 0,1,2.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the method as described in claim 1 to 8 any claim is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710679311.9A CN109389012B (en) | 2017-08-10 | 2017-08-10 | Parking space expansion method and storage medium based on response points and vehicle location lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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